Person Tracking by Detection of Mobile Robot using RGB-D Cameras (RGB-D 카메라를 이용한 모바일 로봇의 사람 검출과 추적)

Kim， Young-Ju (김영주)

doi:10.9708/jksci.2017.22.12.017

Person Tracking by Detection of Mobile Robot using RGB-D Cameras

Journal of The Korea Society of Computer and Information
Abbr : JKSCI
2017, 22(12), pp.17-25
DOI : 10.9708/jksci.2017.22.12.017
Publisher : The Korean Society Of Computer And Information
Research Area : Engineering > Computer Science
Received : November 28, 2017
Accepted : December 14, 2017
Published : December 29, 2017

Kim， Young-Ju ¹

¹신라대학교

Accredited

ABSTRACT

In this paper, we have implemented a low-cost mobile robot supporting the person tracking by detection using RGB-D cameras and ROS(Robot Operating System) framework. The mobile robot was developed based on the Kobuki mobile base equipped with 2’s Kinect devices and a high performance controller. One kinect device was used to detect and track the single person among people in the constrained working area by combining point cloud data filtering & clustering, HOG classifier and Kalman Filter-based estimation successively, and the other to perform the SLAM-based navigation supported in ROS framework. In performance evaluation, the person tracking by detection was proved to be robustly executed in real-time, and the navigation function showed the accuracy with the mean distance error being lower than 50mm. The mobile robot implemented has a significance in using the open-source based, general-purpose and low-cost approach.

KEYWORDS

Mobile Robot, ROS, RGB-D Camera, Person tracking by detection, SLAM-based navigation

Citation status

* References for papers published after 2023 are currently being built.

[book] Siegwart, R / 2011 / Introduction to Autonomous Mobile Robots / The MIT Press

[journal] 문용선 / 2013 / An Implementation of the Control System of the Mobile Robot using ROS / 한국전자통신학회 논문지 / 한국전자통신학회 8(11) : 1713~1718

[confproc] Lee Hyun Sun / 2016 / Implementation of Internet-based IoT Environment for Multiple Robot Systems / ICROS 2016 : 23~25

[journal] Doopalam Tuvshinjargal / 2015 / Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in Dynamic Environments / Transactions of the Korean Society of Mechanical Engineers - A 39(6) : 549~559

[journal] T. Breuer / 2014 / Low-cost Commodity Depth Sensor Comparison and Accuracy Analysis / SPIE Security+Defence / International Society for Optics and Photonics 9250

[confproc] A. M. Pinto / 2015 / Evaluation of Depth Sensors for Robotic Applications / IEEE International Conference on Autonomous Robot Systems and Competitions(ICARSC) : 388~394

[journal] Kim Jun Sik / 2011 / RGB-D Camera Application Research Trend / Robot and Human 8(3) : 29~36

[book] Pyo Youn Seak / 2015 / ROS Robot Programming / Ruby Paper Publisher

[web] / ROS Web Site / http://www.ros.org/

[book] Litman, T / 2014 / Autonomous Vehicle Implementation Predictions: Implications for Transport Planning / Traffic Technology International : 36~42

[journal] Van Den Berg, J. P / 2005 / Roadmap-based Motion Planning in Dynamic Environments / IEEE Trans. Robot 21(5) : 885~897

[confproc] Simmons, R / 1996 / The Curvature-Velocity Method for Local Obstacle Avoidance / IEEE International Conference on Robotics and Automation 4 : 3375~3382

[confproc] N. Dalal / 2005 / Histograms of oriented gradients for human detection / IEEE Computer Society Conference on Computer Vision and Pattern Recognition(CVPR 2005) 1 : 886~893

[journal] N. Bellotto / 2009 / Computationally efficient solutions for tracking people with a mobile robot: an experimental evaluation of bayesian filters / Auton. Robots 28 : 425~438

[confproc] F. Basso / 2012 / Fast and robust multi-people tracking from RGB-D data for a mobile robot / Proceedings of the 12th International Conference IAS-12 : 265~276

[confproc] Linder T / 2014 / Multi-Model Hypothesis Tracking of Groups of People in RGB-D Data / IEEE Int. Conference on Information Fusion (FUSION'14)

[confproc] Jafari O. Hosseini / 2014 / Real-Time RGB-D based People Detection and Tracking for Mobile Robots and Head-Worn Cameras / IEEE International Conference on Robotics and Automation (ICRA'14)

[journal] Susperregi, Loreto / 2013 / RGB-D, Laser and Thermal Sensor Fusion for People Following in a Mobile Robot / International Journal of Advanced Robotic Systems 10 : 5772~5780

[journal] M. Munaro / 2014 / Fast RGB-D people tracking for service robots / Journal on Autonomous Robots / Springer 37(3) : 227~242

[web] / PCL Web Site / http://pointclouds.org/

[web] / SVM Library Web Site / https://www.csie.ntu.edu.tw/~cjlin/libsvm/

[web] / kinect2_bridge Pakacge / https://github.com/code-iai/iai_kinect2

KJCKorea
Journal Central

Journal of The Korea Society of Computer and Information 2023 KCI Impact Factor : 0.65

Person Tracking by Detection of Mobile Robot using RGB-D Cameras

ABSTRACT

KEYWORDS

Citation status

* References for papers published after 2023 are currently being built.

Journal of The Korea Society of Computer and Information 2023 KCI Impact Factor : 0.65

Person Tracking by Detection of Mobile Robot using RGB-D Cameras

ABSTRACT

KEYWORDS

Statistics

Tools

Issue List

Citation status

KCI Citation Counts (0)

REFERENCES (22) * References for papers published after 2023 are currently being built.

Search PDF

Citation

* References for papers published after 2023 are currently being built.